User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402

PAGE 7-36 C27750-001

1. A target reached bit is implemented, indicating that the target velocity has been reached, within the

velocity window. If the Halt bit is set, it will indicate if the drive has stopped or not.

2. A “Speed=0” bit is implemented; indicating that the speed is at zero (i.e. less than the velocity

threshold), see Section 7.19 Velocity Control Function

3. The location of the bits is the same as that shown previously for direct velocity mode.

GENERAL ISSUES

1. An internal limit in the drive may further limit the acceleration further. This acceleration limit parameter

in rads./sec has a default value of 1000000 rads./sec. This limit is also used for quick stopping the drive.

2. If drive is enabled and moving and switch mode to profile velocity (e.g. from direct velocity mode), and if

profile/maximum acceleration is set at zero, then the drive will not respond to changes in the target value,

since the drive is not allowed to accelerate or decelerate.

3. Setting ds402 Max Load Speed, or velocity_maximum should be done initially at configuration, and not

changed during moves, as it changes the internal scaling of the drive

4. The default and only value which Motion Profile Type can have is 0, (i.e. Linear ramp/ trapezoidal profile.)

5. The Max Slippage Error is not implemented, nor is the max slippage parameter, as their functionality is not

clearly defined in the DS402 standard.

SAMPLE SETUP

The following section gives an example of a typical setup for a profile velocity move.

Index/Sub Index Name Value Comment

0x6040 ds402 control word 0x06 Shutdown command

0x6060 ds402 modes of operation 3 Set mode to Profile Velocity Mode

0x60C5 ds402 max acceleration 200 Set maximum acceleration=200 rev/sec

0x6083 ds402 profile acceleration 100 Set profile acceleration=100 rev/sec

0x6510/32 ds402 max load speed 6000 Set Max load speed = 6000 rpm

0x607F ds402 max pro velocity 6000 Set Max profile speed = 6000 rpm

0x606D ds402 velocity window 40 Set velocity window = 40 rpm

0x606F ds402 velocity threshold 20 Set velocity threshold = 20 rpm

0x60FF ds402 target velocity 1000 Set target velocity = 1000 rpm

0x6040 ds402 control word 0x0F Enable Drive command

0x606C ds402 velocity actual Read as 1000 during move

0x6041 ds402 status word Read as 0x637 during move

0x6040 ds402 control word 0x10F Halt command

0x6041 ds402 status word Read as 0x1637 when halted.

Table 7.14 Sample set-up for profile velocity mode